Thomas' Blog

A few random pages that I couldn't put elsewhere.

Matrix Calculus; Or, Throw Away The Matrix Cookbook!

A brief, non-technical explainer on performing vectorized differentiation.

23 min read · May 2025

2025 · calculus linear-algebra matrix-calculus · math
Lyapunov, Control Lyapunov, and Control Barrier Functions

A brief introduction to Lyapunov theory as I currently understand it.

24 min read · November 2024

2024 · lyapunov control dynamical-systems · control
A Brief List of MOOCs

Some of my favorite hosting sites for online courses, plus some general thoughts about online learning.

8 min read · June 2024

2024 · mooc cs learning education · misc